A distributed multi-robot dynamic network connectivity control method
A dynamic network and multi-robot technology, applied in the direction of non-electric variable control, control/regulation system, two-dimensional position/channel control, etc., can solve the problems of network communication cost increase, communication link interruption, etc., to reduce communication load, overcome communication link interruptions, and optimize the effect of global information connectivity
Active Publication Date: 2019-01-04
BEIHANG UNIV
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Problems solved by technology
[0005] The purpose of the present invention is to solve the problem that the communication link of the multi-robot network is interrupted under the condition of dynamic change, and the problem of increasing the network communication cost caused by the current connectivity control method, and propose a distributed multi-robot dynamic network Connectivity Control Method
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[0074] In this implementation example, the multi-robot network is composed of 9 robot nodes, whose initial positions are randomly and evenly distributed within the space range of 100m×100m, and the critical transmission distance d c =25m, the propagation attenuation coefficient is α=2, and the successful transmission probability threshold is δ=e -1 . By computing the second smallest eigenvalue λ of the Laplacian matrix 2 and network global information connectivity U gm To evaluate the present invention's ability to control and improve multi-robot network connectivity.
[0075] In order to illustrate the effect of the present invention, in the control input u i Add random perturbation ξ i , the disturbance obeys a uniform distribution on (-1,1), and the simulation time is 120 seconds. Compare this method with all neighbors Neigh i Keep connected and control input u i =0 control effect.
[0076] figure 2 For adoption with all neighbors Neigh i Keep connected and contro...
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The invention discloses a distributed multi-robot dynamic network connectivity control method, and belongs to the technical field of multi-robot dynamic network control. The method comprises minimum spanning tree distributed dynamic network topology control based on event drive and optimal neighbor communication link connectivity maintaining motion control based on a local artificial potential field. Each robot node periodically broadcasts the location thereof and updates neighbor information, the local minimum spanning trees of the neighbor networks of the nodes are established in a distributed manner, an optimal neighbor is selected, and the communication link with the optimal neighbor is maintained through a local artificial potential field method, so that global information connectivity is optimized and optimal network communication cost is achieved on the basis of maintaining the connectivity of the multi-robot dynamic network. There is no need for a center node to perform calculation in a centralized way, and distributed and parallel implementation can be carried out, so that the communication load is reduced, and the scalability and robustness of the multi-robot network are enhanced. The problem of communication link interrupt caused by robot motion can be overcome.
Description
technical field [0001] The invention belongs to the technical field of multi-robot dynamic network control, and specifically relates to a dynamic network connectivity control method for distributed multi-robots. Background technique [0002] In recent years, multi-robot collaboration technology has attracted more and more people's attention, and its application scope has become increasingly extensive, including aerial robot formations composed of multiple drones, ground robot formations composed of multiple unmanned vehicles, and robot formations composed of An underwater robot formation composed of multiple underwater vehicles, etc. In different applications, multiple robots can perform tasks that a single robot cannot complete through cooperative perception, information interaction, cooperative decision-making and control, and have higher flexibility, robustness and adaptability. [0003] The multi-robot network is the link connecting each robot. As a virtual body attache...
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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor蔡达吴森堂
OwnerBEIHANG UNIV